def render()

in gym/envs/mujoco/mujoco_rendering.py [0:0]
36 lines of code
7 McCabe index (conditional complexity)

    def render(self, camera_id=None, segmentation=False):
        width, height = self.offwidth, self.offheight
        rect = mujoco.MjrRect(left=0, bottom=0, width=width, height=height)

        if camera_id is not None:
            if camera_id == -1:
                self.cam.type = mujoco.mjtCamera.mjCAMERA_FREE
            else:
                self.cam.type = mujoco.mjtCamera.mjCAMERA_FIXED
            self.cam.fixedcamid = camera_id

        mujoco.mjv_updateScene(
            self.model,
            self.data,
            self.vopt,
            self.pert,
            self.cam,
            mujoco.mjtCatBit.mjCAT_ALL,
            self.scn,
        )

        if segmentation:
            self.scn.flags[mujoco.mjtRndFlag.mjRND_SEGMENT] = 1
            self.scn.flags[mujoco.mjtRndFlag.mjRND_IDCOLOR] = 1

        for marker_params in self._markers:
            self._add_marker_to_scene(marker_params)

        mujoco.mjr_render(rect, self.scn, self.con)

        for gridpos, (text1, text2) in self._overlays.items():
            mujoco.mjr_overlay(
                mujoco.mjtFontScale.mjFONTSCALE_150,
                gridpos,
                rect,
                text1.encode(),
                text2.encode(),
                self.con,
            )

        if segmentation:
            self.scn.flags[mujoco.mjtRndFlag.mjRND_SEGMENT] = 0
            self.scn.flags[mujoco.mjtRndFlag.mjRND_IDCOLOR] = 0